function [] = plot_results_2()
load('solver_comparison_2.mat');
% fixed point with MCP; prox formulation
mlcp_FPerr = comparison(:, 2);
% fixed point with NCP; blocked PGS prox formulation with warm start
BPGS_w_FPerr = comparison(:, 4);
% fixed point with NCP: blocked PGS prox formulation without warm start 
BPGS_wo_FPerr = comparison(:, 6);
% fixed_point with NCP: PGS prox formulation with warm start 
PGS_w_FPerr = comparison(:, 8);
% fixed point with NCP: PGS prox formulation without warm start 
PGS_wo_FPerr = comparison(:, 10); 

% mlcp_FPiter = comparison(:, 1);
% BPGS_w_FPiter = comparison(:, 3);
% BPGS_wo_FPiter = comparison(:, 5);
% PGS_w_FPiter = comparison(:, 7);
% PGS_wo_FPiter = comparison(:, 9);

figure(1)
clf;
set(gca,'FontSize',12);
h1 = plot(mlcp_FPerr, '-','LineWidth',2,'Color',[0.7 0.1, 0.1]);
grid on;
hold on;
title('MLCP error message','FontSize',12);
xlabel('Simulation steps','FontSize',12);
ylabel('errors','FontSize',12);
 
figure(2)
clf;
set(gca,'FontSize',12);
h2 = plot(BPGS_w_FPerr, '-','LineWidth',2,'Color',[0.1 0.7, 0.1]);
grid on; hold on;
title('NCP with BPGS warm start ','FontSize',12);
xlabel('Simulation steps','FontSize',12);
ylabel('errors','FontSize',12);
% hold off
% print('-f2','-depsc2','output/FPerror');

figure(3);
clf;
set(gca, 'FontSize', 12);
h3 = plot(BPGS_wo_FPerr, '-', 'LineWidth', 2, 'Color', [0.1, 0.1, 0.7]);
grid on; hold on;
title ('NCP with BPGS without warm start', 'FontSize', 12);
xlabel('Simulation steps', 'FontSize', 12);
ylabel('errors', 'FontSize', 12);
% hold off
% print('-f3', '-depsc2', 'output/FNerror');

figure(4);
clf;
set(gca, 'FontSize', 12);
h4 = plot(PGS_w_FPerr, '-', 'LineWidth', 2, 'Color', [0.1 0.7 0.1]);
grid on; hold on;
title('NCP with PGS with warm start', 'FontSize', 12);
xlabel('Simulation steps', 'FontSize', 12);
ylabel('errors', 'FontSize', 12);


figure(5);
clf;
set(gca, 'FontSize', 12);
h5 = plot(PGS_wo_FPerr, '-', 'LineWidth', 2, 'Color', [0.7 0.1 0.7]);
grid on; hold on;
title('NCP with PGS without warm start', 'FontSize', 12);
xlabel('Simulation steps', 'FontSize', 12);
ylabel('errors', 'FontSize', 12);
end